WO2017008142A1 - Appareil effecteur à extrémité bipolaire pour instrument chirurgical - Google Patents

Appareil effecteur à extrémité bipolaire pour instrument chirurgical Download PDF

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Publication number
WO2017008142A1
WO2017008142A1 PCT/CA2016/000193 CA2016000193W WO2017008142A1 WO 2017008142 A1 WO2017008142 A1 WO 2017008142A1 CA 2016000193 W CA2016000193 W CA 2016000193W WO 2017008142 A1 WO2017008142 A1 WO 2017008142A1
Authority
WO
WIPO (PCT)
Prior art keywords
jaw
housing
yoke
revolute joint
control link
Prior art date
Application number
PCT/CA2016/000193
Other languages
English (en)
Inventor
Rene Robert
Jonathan Hess HILLS
Timothy Norman Johnson
Original Assignee
Titan Medical Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Titan Medical Inc. filed Critical Titan Medical Inc.
Priority to US15/744,014 priority Critical patent/US10849680B2/en
Publication of WO2017008142A1 publication Critical patent/WO2017008142A1/fr
Priority to US17/064,796 priority patent/US11712288B2/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0226—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by cams
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2933—Transmission of forces to jaw members camming or guiding means
    • A61B2017/2936—Pins in guiding slots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2945—Curved jaws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00595—Cauterization
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Definitions

  • This disclosure relates generally to an apparatus used for surgical procedures and more particularly to an end effector for a robotic and/or laparoscopic surgical instrument.
  • Remotely actuated surgical instruments may be used in laparoscopic and/or robotic surgery applications where there is an area of limited access for an operator.
  • the surgical instrument generally includes an end effector disposed at a distal end of a shaft and an actuator portion for manipulating the end effector at a proximate end of a shaft.
  • the end effector and a portion of the surgical instrument inserted through an incision into a body cavity of a patient while the actuator portion generally remains outside the body cavity.
  • End effectors having opposing pivoting jaws are used for grasping and manipulating tissue during surgery and it may be desirable to couple a high frequency alternating current through the jaws for performing electrocauterization of tissue.
  • the electrocauterization current may be supplied by a current generator through a unipolar end effector with the return current path being provided through a ground connection in contact with the patient's body.
  • bipolar end effectors having two jaws in which an electrocauterization current is supplied through the first jaw, flows through tissue clamped between the two jaws, and is returned through the second jaw.
  • an end effector apparatus for a surgical instrument.
  • the apparatus includes a housing, a first jaw mounted on a revolute joint within the housing so as to provide a first electrical conduction path between the housing and the first jaw.
  • the first jaw has a manipulating portion extending forwardly and a lever arm projecting rearwardly from the revolute joint.
  • the apparatus also includes a second jaw mounted on a revolute joint within the housing and electrically insulated from the housing, the second jaw having a manipulating portion extending forwardly from the revolute joint and a lever arm projecting rearwardly from the revolute joint.
  • the apparatus further includes a yoke received within the housing and mechanically coupled to the respective lever arms of the first and second jaws and to a control link, the yoke being moveable with respect to the housing in response to movements of the control link when actuated by the surgical instrument, the movement of the yoke being operable to cause opening and closing movements of the first and second jaws about the respective revolute joints.
  • the yoke is electrically insulated from the housing and the first jaw.
  • the apparatus also includes a second electrical conduction path between the control link and the second jaw, the first and second electrical conduction paths facilitating conduction of a electrocauterization current through tissue grasped between the first and second jaws.
  • the first jaw may be mounted on a first revolute joint within the housing and the second jaw is mounted on a second revolute joint within the housing.
  • the first jaw and the second jaw may be mounted on a common revolute joint within the housing.
  • the housing may include an outer clevis and the common revolute joint may include a pivot pin extending between a pair of arms associated with the outer clevis.
  • the yoke may include an inner clevis having arms configured to receive the respective lever arms of the first and second jaws.
  • the second jaw may be mounted on an insulating spacer received on the pivot pin.
  • the apparatus may include a torque tube coupled to the housing, the torque tube being operable to cause rotation of the housing when actuated by the surgical instrument and the torque tube may be in electrical connection with the housing for carrying the electrocauterization current.
  • the control link may be received within a bore of the torque tube and may further include an electrically insulating sheath between the control link and the torque tube and the control link and torque tube may be operable to connect to respective poles of a bipolar electrocautery current generator.
  • the torque tube, insulating sheath, and control link may be configured to flex within an articulated tool positioner to permit dexterous movement of the end effector apparatus.
  • the housing may include an electrically conductive material and may further include an electrically conductive washer disposed on the revolute joint between the first jaw and the housing for providing the first electrical conduction path.
  • the housing may include an outer clevis and the yoke may include an inner clevis having arms configured to receive the respective lever arms of the first and second jaws.
  • the yoke may include an electrically insulating material and the control link extends through the yoke and may have a portion in sliding contact with the second jaw for completing the second electrical conduction path.
  • the portion of the control link in sliding contact with the second jaw may include a conductive tab having a surface that contacts the second jaw.
  • the lever arms associated with the first and second jaws each may include a slot and the yoke may include a pin slidingly received within the respective slots for providing the mechanical coupling between the yoke and the lever arms.
  • the slot may include an arcuate slot.
  • the pin may include an insulated portion received within the slot in the lever arm of the first jaw, and a conductive pin portion received within the slot in the lever arm of the second jaw for completing the second electrical conduction path between the control link and the second jaw.
  • the housing may include an insulating material and the first electrical conduction path between the housing and the first jaw may be provided by a conductor running through the housing and having a portion in sliding contact with the first jaw.
  • the apparatus may include a linkage extending between the lever arm associated with at least one of the first and second jaws and the yoke for providing the mechanical coupling between the yoke and the lever arm.
  • the end effector includes a housing, a first jaw mounted on a revolute joint so as to provide a first electrical conduction path between the housing and the first jaw, the first jaw having a manipulating portion extending forwardly from the revolute joint and a lever arm projecting rearwardly from the revolute joint, a second jaw mounted on a revolute joint and electrically insulated from the housing, a second electrical conduction path between a control link and the second jaw, the second jaw having a manipulating portion extending forwardly from the revolute joint and a lever arm projecting rearwardly from the revolute joint, a yoke received within the housing and being mechanically coupled to respective lever arms of the first and second jaws and to a control link, the yoke being electrically insulated from the housing and the first jaw.
  • the method involves causing movement of the yoke with respect to the housing in response to movements of the control link to cause opening and closing movements of the first and second jaws about the revolute joints, and coupling an electrocauterization current through the first and second electrical conduction paths and through tissue grasped between the first and second jaws.
  • Figure 1 is a perspective view of an end effector apparatus according to a first disclosed embodiment
  • Figure 2 is a perspective view of the end effector apparatus shown in Figure 1 in an open condition with a housing portion partially cut away;
  • Figure 3 is a perspective view of the end effector apparatus shown in Figure 2 in a closed condition
  • Figure 4 is an exploded perspective view of a portion of the end effector shown in Figure 1;
  • Figure 5 is an exploded perspective view of another portion of the end effector shown in
  • Figure 1 Figure 6 is perspective view of the portion of the end effector shown in Figure 5 in an assembled condition
  • Figure 7 is a perspective view of a portion of a housing and inner clevis of an end effector apparatus according to an alternative embodiment
  • Figure 8 is a perspective view of another disclosed embodiment of an end effector apparatus
  • Figure 9 is a perspective view of the end effector shown in Figure 8 with a portion of a housing cut away;
  • Figure 10 is an exploded perspective view of the end effector shown in Figure 8.
  • Figure 11 is a perspective view of a further disclosed embodiment of an end effector apparatus
  • Figure 12 is a perspective view of the end effector shown in Figure 11 with a portion of a housing cut away;
  • Figure 13 is an exploded perspective view of the end effector shown in Figure 11.
  • an end effector apparatus according to a first disclosed embodiment is shown generally at 100.
  • the end effector 100 is connected via a shaft 220 to a surgical instrument 230.
  • the surgical instrument 230 includes an input 232 for receiving a current from a bipolar electrocautery generator 240 via a cable 242.
  • the surgical instrument 230 may be an electro-mechanical interface to a robotic surgery system for controlling and actuating the end effector.
  • the surgical instrument may be configured as an articulated tool positioner as described in detail in commonly owned patent applications PCT/CA2013/001076 entitled “ARTICULATED TOOL POSITIONER AND SYSTEM EMPLOYING SAME” and PCT/CA2015/000098 entitled “ACTUATOR AND DRIVE FOR MANIPULATING A TOOL” filed on February 18, 2015.
  • the surgical instrument may be a hand operated laparoscopic tool actuator that is manipulated directly by a surgeon.
  • the end effector 100 includes a housing 102 and a revolute joint 104 received between first and second arms 180 and 182 of the housing that define an outer clevis.
  • the end effector 100 also includes a first jaw 106 and a second jaw 108 mounted on the revolute joint 104.
  • the revolute joint 104 is a common revolute joint and the first and second jaws 106 and 108 are mounted on the same revolute joint.
  • the first and second jaws 106 and 108 may be mounted on separate spaced apart revolute joints within the housing 102.
  • the first and second jaws 106 and 108 each have respective manipulating portions 110 and 112 extending forwardly from the revolute joint 104 and respective lever arms 114 and 116 projecting rearwardly from the revolute joint.
  • the first and second jaws 106 and 108 are fabricated from an electrically conductive material.
  • the end effector 100 also includes an inner clevis 118 received within the housing 102.
  • the end effector 100 is shown in Figure 2 in enlarged detail with the housing 102 partially removed to better show the inner clevis 118.
  • the inner clevis 118 is reciprocally moveable within the housing 102 in a direction indicated by the arrow 222.
  • the inner clevis 118 is sized to slide within the housing 102.
  • the housing includes a slot 120 and the inner clevis 118 includes a sliding pin 122, which is received in the slot and guides the reciprocating motion of the inner clevis within the housing.
  • An additional slot may be disposed on the opposite side of the housing 102 (not visible in Figure 1 and Figure 2) for receiving a second sliding pin associated with the inner clevis 118.
  • the sliding pins prevent rotation of the inner clevis 118 within the housing 102, which may cause binding between surfaces of the inner clevis and surfaces of the housing.
  • the jaws 106 and 108 are shown in an open configuration in Figure 2, which corresponds to the inner clevis 118 having been moved forwardly toward the revolute joint 104 of the end effector 100.
  • the jaws 106 and 108 are shown in a closed configuration, which corresponds to the inner clevis 118 having been moved rearwardly away from the revolute joint 104 of the end effector 100.
  • the inner clevis 118 acts as a yoke for coupling a force applied to the inner clevis to the respective lever arms 114 and 116.
  • the housing 102 is fabricated from an electrically conductive material such as stainless steel
  • the inner clevis 118 is fabricated from an electrically insulating material such as a plastic (for example Polyetherimide manufactured under the name Ultem by Saudi Arabia Basic Industries Corporation), and the first and second jaws 106 and 108 are fabricated from stainless steel.
  • the end effector 100 is shown in exploded view in Figure 4.
  • the revolute joint 104 is aligned along an axis 128 and includes a pivot pin 130 and an insulating spacer 132 received on the pivot pin.
  • the pivot pin 130 is supported between the first and second arms 180 and 182 of the housing 102 (shown in Figure 1).
  • the insulating spacer 132 electrically insulates the first jaw 106 from the second jaw 108 when received on the pivot pin 130.
  • the first jaw 106 includes an opening 134 and is received on the pivot pin 130 to permit the jaw to pivot freely about the pin.
  • the revolute joint 104 also includes an insulating spacer 138, which has a protruding annular portion 140 and an opening 139 sized to be received on the pivot pin 130.
  • the second jaw 108 further includes an opening 136 that is sized to receive the protruding portion 140 of the insulating spacer 138, which is in turn received together with the second jaw on the pivot pin 130.
  • the insulating spacer 138 electrically insulates the second jaw 108 from the pivot pin 130.
  • the first jaw 106 has a protruding annular portion 142 (also shown in Figure 2), which in this embodiment is formed as a unitary part of the electrically conductive second jaw.
  • the revolute joint 104 further includes an electrically conductive washer 144, which is received on the pivot pin 130 and completes an electrical connection between the protruding annular portion 142 of the first jaw 106 and the housing 102.
  • the washer 144 is a spring washer, such as a Bellville or wave washer that compresses when received between the protruding annular portion 142 and the housing 102.
  • the spring washer 144 is compressed when the revolute joint 104 is assembled within the housing and is able to extend laterally to facilitate an electrical connection between the revolute joint 104 received between the first arm 180 of the housing 102 and the first jaw 106.
  • the inner clevis 118 includes a first slot 150 defined between first and second tines 152 and 154 for receiving the lever arm 114 of the first jaw 106.
  • the inner clevis 118 also includes a second slot 156 defined between the second tine 154 and a third tine 158 for receiving the lever arm 116 of the second jaw 108.
  • the inner clevis 118 further includes an opening 160 extending through the first tine 152 for receiving a pin 162 and an opening 164 extending through the third tine 158 for receiving a pin 166.
  • the second tine 154 may have corresponding openings (not visible in Figure 4) for receiving the pins 162 and 166 such that each of the pins is retained between a pair of tines.
  • the lever arm 114 of the first jaw 106 further includes an arcuate slot 170 and the lever arm 116 of the second jaw 108 includes an arcuate slot 172.
  • the lever arm 114 of the first jaw 106 is received in the slot 150 and the pin 162 is pressed through the opening 160 and through the arcuate slot 170 to mechanically couple the inner clevis 118 to the first jaw.
  • the lever arm 116 of the second jaw 108 is received in the slot 156 and the pin 166 is pressed through the opening 164 and through the arcuate slot 172 to mechanically couple the inner clevis 118 to the second jaw.
  • the shaft 220 includes a control link 190 and a torque tube 192, each of which are fabricated from electrically conducting material.
  • the shaft 220 also includes an electrically insulating sheath 194 between the control link 190 and the torque tube 192 and an electrically insulating sheath 196 covering the torque tube.
  • the electrically insulating sheath 194 is sized to permit free reciprocating movement of the control link 190 within the sheath.
  • the torque tube 192, the insulating sheaths 194 and 196, and the control link 190 are fabricated from flexible materials that permit the shaft 220 to flex within an articulated tool positioner (not shown) that permits dexterous movement of the end effector apparatus 100.
  • the torque tube 192 is received within a collar 202 of the housing 102.
  • the torque tube 192 is also mechanically coupled to the collar 202 to permit rotation of the housing 102 and thus the end effector 100 in the direction indicated by the arrow 198.
  • the collar 202 also provides an electrical connection between the torque tube 192 and the electrically conductive housing 102.
  • the torque tube 192 may be soldered, welded, or crimped to the collar 202 of the housing 102.
  • the torque tube 192 thus provides a first electrical connection through the housing 102, through the electrically conductive washer 144 (shown in Figure 4) and the annular portion 142 to the first jaw 106.
  • the insulating spacers 132 and 138 function to insulate the second jaw 108 from the first jaw 106.
  • the inner clevis 118, second jaw 108, and the control link 190 of the end effector 100 are shown in exploded view in Figure 5 and as assembled in Figure 6.
  • a face of the inner clevis 118 that is oriented toward the revolute joint 104 is shown while the first jaw 106 has been removed from the first slot 150 to reveal connections to the second jaw 108.
  • the inner clevis 118 is fabricated from an insulating material and there is thus no inherent electrical connection between the first jaw and the inner clevis.
  • electrical connection between the control link 190 and the lever arm 116 of the second jaw 108 is provided through a conductive tab 300.
  • the conductive tab 300 includes a recess 302 for receiving the control link 190, which in one embodiment may be soldered to the conductive tab 300.
  • the control link 190 also includes a ferrule 304, which is securely connected to the control link.
  • the ferrule 304 provides an attachment point for mechanically connecting the control link 190 to the inner clevis 118 to facilitate movement of the inner clevis within the housing 102 in response to reciprocating movement of the control link.
  • the control link 190, ferrule 304 and the conductive tab 300 are received in an opening 306 on the second tine 154 of the inner clevis 118.
  • the ferrule 304 is mechanically secured to the inner clevis by means of an adhesive, a threaded connection, crimping or other fastening method.
  • the inner clevis 118 is thus actuated to move with respect to the housing 102 in response to movements of the control link 190 when actuated by the surgical instrument 230 (shown in Figure 1).
  • the movement of the inner clevis 118 is operable to cause opening and closing movements of the first and second jaws 106 and 108 about the revolute joint 104.
  • the lever arm 116 of the second jaw 108 is received within the second slot 156 and a spring washer 308 is inserted between the third tine 158 and the second jaw to urge a surface 310 of the lever arm 116 into sliding electrical connection with the conductive tab 300.
  • the second jaw 108 and spring washer 308 are retained within the second slot 156 by the pin 166, which is pressed through the opening 164 and through the arcuate slot 170 in the lever arm 116.
  • the control link 190 thus provides a second electrical conduction path through the conductive tab 300 to the second jaw 108.
  • the insulating spacers 132 and 138 (shown in Figure 1) insulate the second jaw 108 from the first jaw 106 and the housing 102.
  • the inner clevis 118 is thus electrically insulated from the housing 102 and the first jaw 106.
  • the control link 190 is also mechanically coupled to the inner clevis 118 for actuating the inner clevis to move within the housing 102 to cause the jaws 106 and 108 to open and close.
  • the first and second electrical conduction paths between the control link 190 and first jaw 106 and the torque tube 192 and second jaw 108 are thus independent, and facilitate conduction of the electrocauterization current through tissue grasped between the first and second jaws 106 and 108.
  • the two independent electrical conduction paths eliminate the need for additional cables that would usually be required to carry an electrocauterization current through the shaft to the jaws. Additional cables occupy space within the shaft and may require increased shaft diameter to accommodate the cables.
  • the disclosed embodiment by combining the mechanical and electrical actuation functions within a single link or tube, facilitates bipolar operation of the end effector 100 without an increase in size and/or complexity of the shaft 220.
  • FIG. 7 An alternative embodiment of the end effector is shown in Figure 7 at 400.
  • an inner clevis 402 of the end effector 400 has a circular shape and is received within a housing 404 that has a circular bore for receiving the inner clevis.
  • the inner clevis 402 is otherwise configured generally as described above in connection with the inner clevis 118, with the exception of the sliding pin 122 and the slot 120.
  • the sliding pins may be omitted since the circular inner clevis 402 permits some rotation within the housing 404 without causing binding between the components.
  • FIG. 8 An alternative embodiment of an end effector apparatus for a surgical instrument is shown in Figures 8 to 10 at 500.
  • the end effector 500 includes a housing 502 and a first jaw 504 mounted on a revolute joint 506 within the housing.
  • the first jaw 504 has a manipulating portion 508 extending forwardly and a lever arm 510 projecting rearwardly from the revolute joint (better shown in Figure 9, where a portion of the housing 502 is cut away to reveal the lever arm 510).
  • the end effector 500 also includes a second jaw 512 mounted on the revolute joint 506, which in this embodiment is a common revolute joint.
  • An exploded view of the end effector 500 is shown in Figure 10.
  • the second jaw 512 includes a manipulating portion 514 extending forwardly from the revolute joint 506 and a lever arm 516 projecting rearwardly from the revolute joint.
  • the lever arm 516 and manipulating portion 514 are better shown in an exploded view in Figure 10.
  • the end effector 500 also includes a yoke 518 received within the housing 502 and mechanically coupled to the respective lever arms 510 and 516 of the first and second jaws 504 and 512 and to a control link 520.
  • the yoke 518 is moveable with respect to the housing 502 in response to movements of the control link 520 when actuated by the surgical instrument. Movement of the yoke 518 causes opening and closing movements of the first and second jaws 504 and 512 about the revolute joint 506.
  • the first and second jaws 504 and 512 are fabricated from an electrically conductive material such as stainless steel.
  • the revolute joint 506 includes an electrically conductive washer 522 mounted between the first jaw 504 and the housing 502, which provides a first electrical conduction path between the housing and the first jaw.
  • the electrically conductive washer 522 may be a spring washer.
  • the second jaw 512 is electrically insulated from the housing by an insulating spacer 524 that inserts in the housing between the second jaw and an arm 526 of the housing.
  • the revolute joint 506 includes a pivot pin 528 and the insulating spacer 524 includes an insulating bushing 530 that extends through the second jaw 512 over the pivot pin.
  • the pivot pin 528 and insulating spacer 524 thus provide a revolute mounting for the second jaw 512 within the housing 502 that insulates the second jaw from the housing.
  • an additional insulating washer 529 is received on the pivot pin 528 and provides insulation between the first jaw 504 and the second jaw 512.
  • the yoke 518 includes an electrically conductive pin 532 that is slidingly received in a slot 534 in the lever arm 516 and provides the mechanical coupling between the yoke and the lever arm.
  • the pin 532 is electrically connected via the yoke 518 to the control link 520 providing a second electrical conduction path between the control link and the second jaw 512.
  • the yoke 518 also includes a pin 536 for engaging a slot 538 in the lever arm 510 that provides the mechanical coupling between the yoke and the lever arm.
  • the pin 536 is insulated from the yoke 518 so that the first jaw 504 remains isolated from the yoke and thus the second electrical conduction path.
  • the yoke 518 and may be fabricated using a metal injection molding process and the electrically conductive pin 532 may be fabricated as part of the yoke.
  • the pin 536 may be provided as an insulating insert that attaches to the yoke.
  • the yoke may be a stainless steel material that is coupled directly to the control link (for example, by crimping), providing the electrical contact to the yolk.
  • the yoke 518 is electrically insulated from the housing 502, and if necessary, an insulating overmold or other insulating components may be used to provide the electrical isolation between the yoke 518, housing 502, and the first jaw 512.
  • the first and second electrical conduction paths facilitate conduction of a electrocauterization current through tissue grasped between the first and second jaws 504 and 512.
  • the torque tube 192 may couple to the housing to provide a connection from the bipolar electrocautery generator 240, via the housing 502, and to the first jaw 504.
  • the control link 520 may provide a connection between the bipolar electrocautery generator 240 and the second jaw 512.
  • FIG. 11 A further embodiment of an end effector apparatus for a surgical instrument is shown in Figures 11 to 13 at 600.
  • the end effector 600 includes a housing 602 and a first jaw 604 mounted on a first revolute joint 606 within the housing.
  • the end effector 600 is shown in Figure 12 with a portion of the housing 602 cut away and in exploded view in Figure 13.
  • the first jaw 604 has a manipulating portion 608 extending forwardly and a lever arm 610 (shown in Figures 12 and 13) projecting rearwardly from the revolute joint 606.
  • the end effector 600 also includes a second jaw 612 mounted on a second revolute joint 614.
  • the second jaw 612 includes a manipulating portion 616 extending forwardly from the revolute joint 606 and a lever arm 618 projecting rearwardly from the revolute joint.
  • the first revolute joint 606 and the second revolute joint 614 are vertically separated within the housing 602, which may improve gripping force when the first and second jaws 604 and 612 are actuated to close.
  • the end effector 600 also includes a yoke 620 received within the housing 602 and mechanically coupled to the respective lever arms 610 and 618 of the first and second jaws 604 and 612 and to a control link 622.
  • the yoke 620 is moveable with respect to the housing 602 in response to movements of the control link 622 when actuated by the surgical instrument. Movement of the yoke 620 causes opening and closing movements of the first and second jaws 604 and 612 about the respective revolute joints 606 and 614.
  • the first and second jaws 604 and 612 are fabricated from an electrically conductive material such as stainless steel.
  • the embodiment shown in Figures 11 - 13 differs from that shown in Figures 8 - 10 in that the housing 602 is fabricated from a non-conductive material such as a Polyetherimide and thus there is no electrical connection directly between the housing and the either of the jaws 604 and 612.
  • the first revolute joint 606 includes a pin 624 and an electrically conductive washer 626 (such as a spring washer) mounted on the pin.
  • the washer 626 also includes a conductor portion 628 that runs through the housing and emerges at a slot 629 in the rear of the housing 602. When assembled the washer 626 contacts the first jaw 604 and thus provides a first electrical conduction path through the conductor portion 628, via the washer 626, and to the first jaw 604.
  • the first jaw 604 thus remains insulated from the housing 602, since the housing is non-conductive.
  • the second revolute joint 614 includes a pin 625 for mounting the second jaw 612, which is also electrically insulated from the housing.
  • the yoke 620 is shown in further detail in an insert in Figure 13.
  • the yoke 620 includes an electrically conductive center portion 640 and also includes an insulated pin 630 that slidingly engages a slot 632 in the lever arm 610.
  • the insulated pin 630 is provided as an insulating insert.
  • the yoke 620 also includes a conductive pin 642 and conductive spring washer, which when engaged with a slot 646 in the lever arm 618 provides a second electrical conduction path through the control link 622, via the yoke 620, to the second jaw 612.
  • the yoke 620 need not be insulated from the housing 602 in this embodiment since the housing is non-conductive.
  • the first and second electrical conduction paths facilitate conduction of a electrocauterization current through tissue grasped between the first and second jaws 604 and 612.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Plasma & Fusion (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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  • Physics & Mathematics (AREA)
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  • Surgical Instruments (AREA)

Abstract

La présente invention concerne un appareil effecteur d'extrémité pour un instrument chirurgical comprenant un boîtier ayant une première mâchoire montée sur une articulation rotoïde et offrant un premier chemin de conduction électrique entre le boîtier et la première mâchoire. Une seconde mâchoire est montée sur une articulation rotoïde à l'intérieur du boîtier et isolée du boîtier, les mâchoires ayant chacune une partie de manipulation et un bras de levier. Une culasse est logée à l'intérieur du boîtier et couplée mécaniquement aux bras de levier et à une liaison de commande et elle est mobile en réponse à des mouvements de la liaison de commande pour provoquer l'ouverture et la fermeture des mâchoires, la culasse étant isolée électriquement du boîtier et de la première mâchoire. Un second chemin de conduction électrique est prévu entre la liaison de commande et la seconde mâchoire. Les chemins de conduction électrique facilitent la conduction d'un courant d'électro-cautérisation à travers le tissu maintenu entre les mâchoires.
PCT/CA2016/000193 2015-07-13 2016-07-11 Appareil effecteur à extrémité bipolaire pour instrument chirurgical WO2017008142A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US15/744,014 US10849680B2 (en) 2015-07-13 2016-07-11 Bipolar end effector apparatus for a surgical instrument
US17/064,796 US11712288B2 (en) 2015-07-13 2020-10-07 Bipolar end effector apparatus for a surgical instrument

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201562191886P 2015-07-13 2015-07-13
US62/191,886 2015-07-13

Related Child Applications (2)

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US15/744,014 A-371-Of-International US10849680B2 (en) 2015-07-13 2016-07-11 Bipolar end effector apparatus for a surgical instrument
US17/064,796 Continuation US11712288B2 (en) 2015-07-13 2020-10-07 Bipolar end effector apparatus for a surgical instrument

Publications (1)

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WO2017008142A1 true WO2017008142A1 (fr) 2017-01-19

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WO (1) WO2017008142A1 (fr)

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CN111941408A (zh) * 2020-07-16 2020-11-17 昆明理工大学 一种用于视觉分选系统的可旋转机械夹爪
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US20210251556A1 (en) * 2020-01-24 2021-08-19 Medtronic Xomed, Inc. Conductive Instrument
CN111941408A (zh) * 2020-07-16 2020-11-17 昆明理工大学 一种用于视觉分选系统的可旋转机械夹爪

Also Published As

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US11712288B2 (en) 2023-08-01
US20180193086A1 (en) 2018-07-12
US10849680B2 (en) 2020-12-01
US20210015545A1 (en) 2021-01-21

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